From d117245f36bb255a3d8badc0fe75495e69d81f1d Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 10 Apr 2008 01:19:10 +0200 Subject: * digital/asserv/tools: - added coeficient tuning scripts. --- digital/asserv/tools/step.py | 22 ++++++++++++++++++++++ 1 file changed, 22 insertions(+) create mode 100644 digital/asserv/tools/step.py (limited to 'digital/asserv/tools/step.py') diff --git a/digital/asserv/tools/step.py b/digital/asserv/tools/step.py new file mode 100644 index 00000000..498ce58f --- /dev/null +++ b/digital/asserv/tools/step.py @@ -0,0 +1,22 @@ +import sys +sys.path.append (sys.path[0] + '/../../../host/proto') + +from asserv import Asserv +import popen_io +import Gnuplot + +def step (name, kp, ki, kd, plots): + io = popen_io.PopenIO (sys.argv[1:]) + a = Asserv (io, **{ name + 'kp': kp, name + 'ki': ki, name + 'kd': kd}) + a.stats ('PW') + a.consign (name, 0x200) + a.wait (lambda: a.stats_count > 225 * 2) + list = a.get_stats () + + g = Gnuplot.Gnuplot (persist = True) + g ('set data style lines') + g.plot (*[Gnuplot.Data (list, cols = i) for i in plots]) + +step ('t', 1, 0, 16, (0, 6, 7)) +#step ('a', 1, 0, 16, (2, 6, 7)) +#step ('a0', 1, 0, 16, (4, 8)) -- cgit v1.2.3